# Intel RealSense R200 用の Ubuntu にドライバをインストールする

このチュートリアルでは、収集した画像をロボットオペレーションシステム(ROS)経由でアクセスできるように、Linux 環境で Intel RealSense R200 カメラのドライバーをインストールする方法について説明します。 RealSense R200 カメラヘッドを以下に説明します。

![Intel Realsense Camera front view](../../assets/hardware/sensors/realsense/intel_realsense.png)

ドライバーのインストールは、VirtualBox内のゲストOSとして動作するUbuntuオペレーションシステム(OS)上で実行されます。 The specifications of the host computer where the Virtual Box is running, the Virtual Box  and the guest system are given below:

- Host Operation System: Windows 8
- Processor: Intel(R) Core(TM) i7-4702MQ CPU @ 2.20GHz
- Virtual Box: Oracle VM. Version 5.0.14 r105127
- Extensions: Extension package for Virtual Box installed (Needed for USB3 support)
- Guest Operation System: Linux - Ubuntu 14.04.3 LTS

The tutorial is ordered in the following way: In a first part it is shown how to install Ubuntu 14.04 as a guest OS in the Virtual Box. In a second part is shown how to install ROS Indigo and the camera driver. The  ensuing frequently used expressions have the following meaning:
- Virtual Box (VB): Program that runs different Virtual Machines. In this case the Oracle VM.
- Virtual Machine (VM): The operation system that runs in the Virtual Box as a guest system. In this case Ubuntu.

## Installing Ubuntu 14.04.3 LTS in Virtual Box

- Create a new Virtual Machine (VM): Linux 64-Bit.
- Download the iso file of Ubuntu 14.04.3 LTS: ([ubuntu-14.04.3-desktop-amd64.iso](https://ubuntu.com/download/desktop)).
- Installation of Ubuntu:
  - During the installation procedure leave the following two options unchecked:
    - Download updates while installing
    - Install this third party software
- After the installation you might need to enable the Virtual Box to display Ubuntu on the whole desktop:
  -  Start VM Ubuntu and login, Click on **Devices->Insert Guest Additions CD image** in the menu bar of the Virtual Box.
  -  Click on **Run** and enter password on the windows that pop up in Ubuntu.
  -  Wait until the installation is completed and then restart. Now, it should be possible to display the VM on the whole desktop.
  -  If a window pops up in Ubuntu that asks whether to update, reject to update at this point.
- Enable USB 3 Controller in Virtual Box:
  - Shut down Virtual Machine.
  - Go to the settings of the Virtual Machine to the menu selection USB and choose: "USB 3.0(xHCI)". This is only possible if you have installed the extension package for the Virtual Box.
  - Start the Virtual Machine again.

## Installing ROS Indigo

- Follow instructions given at [ROS indigo installation guide](http://wiki.ros.org/indigo/Installation/Ubuntu):
  - Install Desktop-Full version.
  - Execute steps described in the sections "Initialize rosdep" and "Environment setup".

## Installing camera driver

- Install git:
```bash
sudo apt-get install git
```
- Download and install the driver
  - Clone [RealSense_ROS repository](https://github.com/bestmodule/RealSense_ROS):
    ```bash
    git clone https://github.com/bestmodule/RealSense_ROS.git
    ```
- Follow instructions given in [here](https://github.com/bestmodule/RealSense_ROS/tree/master/r200_install).
  - Press the enter button when the questions whether to install the following installation packages show up:
    ```
    Intel Low Power Subsystem support in ACPI mode (MFD_INTEL_LPSS_ACPI) [N/m/y/?] (NEW)
    ```
    ```
    Intel Low Power Subsystem support in PCI mode (MFD_INTEL_LPSS_PCI) [N/m/y/?] (NEW)

    ```
    ```
    Dell Airplane Mode Switch driver (DELL_RBTN) [N/m/y/?] (NEW)
    ```
  - The following error message that can appear at the end of the installation process should not lead to a malfunction of the driver:
    ```
    rmmod: ERROR: Module uvcvideo is not currently loaded
    ```

- After the installation has completed, reboot the Virtual Machine.

- Test camera driver:
  - Connect the Intel RealSense camera head with the computer with a USB3 cable that is plugged into a USB3 receptacle on the computer.
  - Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box, in order to forward the camera USB connection to the Virtual Machine.
  - Execute the file [unpacked folder]/Bin/DSReadCameraInfo:
    - If the following error message appears, unplug the camera (physically unplug USB cable from the computer). Plug it in again + Click on Devices->USB-> Intel Corp Intel RealSense 3D Camera R200 in the menu bar of the Virtual Box again and execute again the file [unpacked folder]/Bin/DSReadCameraInfo.
      ```
      DSAPI call failed at ReadCameraInfo.cpp:134!
      ```
    - If the camera driver works and recognises the Intel RealSense R200, you should see specific information about the Intel RealSense R200 camera head.

- Installation and testing of the ROS nodlet:
  - Follow the installation instructions in the "Installation" section given [here](https://github.com/bestmodule/RealSense_ROS/blob/master/realsense_dist/2.3/doc/RealSense-ROS-R200-nodelet.md), to install the ROS nodlet.
  - Follow the instructions in the "Running the R200 nodelet" section given [here](https://github.com/bestmodule/RealSense_ROS/blob/master/realsense_dist/2.3/doc/RealSense-ROS-R200-nodelet.md), to test the ROS nodlet together with the Intel RealSense R200 camera head.
    - If everything works, the different data streams from the Intel RealSense R200 camera are published as ROS topics.

